History

Paul Huliganga 6c5623e881 fix: exp14 finetune load warm-start model without temp env to prevent second spawned car		2026-04-19 20:24:33 -04:00
..
README.md	save: all experiment scripts moved from /tmp to agent/experiments/	2026-04-18 21:30:08 -04:00
exp6_mountain_v5_proper.py	save: all experiment scripts moved from /tmp to agent/experiments/	2026-04-18 21:30:08 -04:00
exp7_mountain_proper.py	save: all experiment scripts moved from /tmp to agent/experiments/	2026-04-18 21:30:08 -04:00
exp8_mountain_clean.py	save: all experiment scripts moved from /tmp to agent/experiments/	2026-04-18 21:30:08 -04:00
exp9_mountain_v5_throttle02.py	save: all experiment scripts moved from /tmp to agent/experiments/	2026-04-18 21:30:08 -04:00
exp10_two_tracks.py	save: all experiment scripts moved from /tmp to agent/experiments/	2026-04-18 21:30:08 -04:00
exp11_parallel_envs.py	fix: reward v6 — efficiency gate prevents circular driving, stuck_steps 80→40	2026-04-19 12:02:55 -04:00
exp11b_parallel_v6.py	feat: Exp 11b — parallel DummyVecEnv + v6 reward (anti-circle gate) + built-in eval	2026-04-19 12:03:46 -04:00
exp11c_parallel_v6_250k.py	feat: Exp 11c — parallel DummyVecEnv + v6 reward, extended to 250k steps	2026-04-19 13:27:38 -04:00
exp11d_parallel_v61.py	fix: exp11d remove progress_patience — grass fix only per ADR-020	2026-04-19 16:18:17 -04:00
exp12_mountain_single.py	fix: reward v6.1 — active_node progress terminator kills circle/stuck exploits	2026-04-19 17:01:41 -04:00
exp13_gentrack_v4.py	feat: Exp 13 — generated_track, v4 reward, back to basics (no extra heuristics)	2026-04-19 17:33:17 -04:00
exp14_finetune_v5.py	fix: exp14 finetune load warm-start model without temp env to prevent second spawned car	2026-04-19 20:24:33 -04:00
exp14_mountain_v5.py	fix: exp14 — proper track switch via exit_scene before connecting to mountain_track	2026-04-19 19:18:33 -04:00
mountain_continue.py	save: all experiment scripts moved from /tmp to agent/experiments/	2026-04-18 21:30:08 -04:00
mountain_high_throttle.py	save: all experiment scripts moved from /tmp to agent/experiments/	2026-04-18 21:30:08 -04:00
mountain_v5.py	save: all experiment scripts moved from /tmp to agent/experiments/	2026-04-18 21:30:08 -04:00
overnight.py	save: all experiment scripts moved from /tmp to agent/experiments/	2026-04-18 21:30:08 -04:00
wave5_train.py	save: all experiment scripts moved from /tmp to agent/experiments/	2026-04-18 21:30:08 -04:00

README.md

Experiment Scripts

These scripts were used to run individual training experiments. Each corresponds to an entry in docs/TEST_HISTORY.md.

Script	Experiment	Key change
mountain_v5.py	Exp 5	v5 reward + throttle_min=0.5, direct model.learn()
mountain_continue.py	Exp 4	Continued Exp3 training
mountain_high_throttle.py	Exp 3	throttle_min=0.5, old v4 reward
exp6_mountain_v5_proper.py	Exp 6	v5 + termination, wrong steps_per_switch (=total)
exp7_mountain_proper.py	Exp 7	v5 + termination, correct steps_per_switch=6000, had phantom car issue
exp8_mountain_clean.py	Exp 8	v5 + throttle_min=0.5, single connection, correct checkpointing
exp9_mountain_v5_throttle02.py	Exp 9	v5 + throttle_min=0.2, OUR BEST MODEL
exp10_two_tracks.py	Exp 10	Two tracks via custom script (abandoned — used multitrack_runner.py instead)
overnight.py	Overnight runs	mountain-only and Trial9-repeat experiments
wave5_train.py	Wave 5	generated_track only with throttle_min=0.2

Rule going forward

ALL experiment scripts must be saved here and committed to git BEFORE running. Scripts in /tmp are lost on reboot.

Running experiments

Use multitrack_runner.py directly for two-track training: python3 multitrack_runner.py --total-timesteps 90000 --steps-per-switch 6000 ...

For single-track experiments, use the pattern from exp8/exp9:

VecTransposeImage(DummyVecEnv([make_env])) for env creation
Direct model.learn() loop with manual checkpointing
No close_and_switch() for single track